#ifndef _GEOMETRIC_IMAGE_FILTER_CONFIG_
#define _GEOMETRIC_IMAGE_FILTER_CONFIG_

// Configuration
// -------------
const bool DEBUGGING = false;
const bool TIMING = true;
const char * NODE_NAME = "geometric_image_filter";
const char * IMAGE_TOPIC = "image";
const char * CAMERA_INFO_TOPIC = "info";
const char * STEREO_TOPIC = "stereo";
const char * BASE_FRAME = "/base_footprint";

// Constants
// ---------
const float MESSAGE_BUFFER_DURATION_S = 2.0;
const float HEIGHT_EPS_M = 0.025;
const float WINDOW_SCALE_FACTOR = 1.2;

// Physical constraints
// --------------------
const float MIN_HEIGHT_M = 1.35;
const float MAX_HEIGHT_M = 1.65;
const float MIN_SIZE_M = 0.05;
const float MAX_SIZE_M = 0.17;
const float MAX_DEPTH_M = 8.0;

// OpenCV configuration
// --------------------
const char * WINDOW_NAME = "Geometric Image Filter";
const bool DISPLAY_LOCAL = false;
const int GROUP_THRESHOLD = 1;
const int EPS = 0.2;

#endif /* _GEOMETRIC_IMAGE_FILTER_CONFIG_ */ 
